FR3095510B1 - Method for estimating an index representative of the frictional behavior of a vehicle on a road - Google Patents

Method for estimating an index representative of the frictional behavior of a vehicle on a road Download PDF

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Publication number
FR3095510B1
FR3095510B1 FR1904265A FR1904265A FR3095510B1 FR 3095510 B1 FR3095510 B1 FR 3095510B1 FR 1904265 A FR1904265 A FR 1904265A FR 1904265 A FR1904265 A FR 1904265A FR 3095510 B1 FR3095510 B1 FR 3095510B1
Authority
FR
France
Prior art keywords
vehicle
angular speed
frictional behavior
estimating
freewheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1904265A
Other languages
French (fr)
Other versions
FR3095510A1 (en
Inventor
Simon Piriou
Andrea Laruelo
Anaïs Goursolle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive Technologies GmbH
Original Assignee
Continental Automotive France SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR1904265A priority Critical patent/FR3095510B1/en
Priority to US16/851,642 priority patent/US11453400B2/en
Priority to CA3079339A priority patent/CA3079339A1/en
Publication of FR3095510A1 publication Critical patent/FR3095510A1/en
Application granted granted Critical
Publication of FR3095510B1 publication Critical patent/FR3095510B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17636—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B60T2210/124—Roads with different friction levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B60T2240/02—Longitudinal grip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/30—Wheel torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L’invention concerne un procédé pour estimer une valeur représentative du comportement frictionnel d’un véhicule circulant sur un segment routier, caractérisé en ce qu’il comprend des étapes de réception (200) de paramètres de fonctionnement d’un véhicule comprenant au moins, une vitesse angulaire d’une roue motrice, une vitesse angulaire d’une roue libre du véhicule, et une caractéristique dynamique du véhicule ; de calcul (201) d’un premier rapport entre la vitesse angulaire d’une roue motrice et la vitesse angulaire d’une roue libre du véhicule acquises lorsque le véhicule se déplace sensiblement en ligne droite à une vitesse supérieure ou égale à un premier seuil prédéterminé ; de détermination (202), à partir des paramètres de fonctionnement reçus, d’un second rapport entre le rayon de la roue motrice et le rayon de la roue libre ; de détermination (203) d’un taux de glissement à partir d’un produit entre le premier et le second rapport déterminés ; et d’obtention (204) d’une valeur représentative du comportement frictionnel du véhicule par normalisation du taux de glissement déterminé à partir d’au moins la caractéristique dynamique du véhicule. Figure 2.The invention relates to a method for estimating a value representative of the frictional behavior of a vehicle traveling on a road segment, characterized in that it comprises steps of receiving (200) operating parameters of a vehicle comprising at least, an angular speed of a driving wheel, an angular speed of a freewheel of the vehicle, and a dynamic characteristic of the vehicle; for calculating (201) a first ratio between the angular speed of a driving wheel and the angular speed of a freewheel of the vehicle acquired when the vehicle is moving substantially in a straight line at a speed greater than or equal to a first threshold predetermined; determining (202), from the received operating parameters, a second ratio between the radius of the drive wheel and the radius of the freewheel; determining (203) a slip rate from a product between the determined first and second ratio; and obtaining (204) a value representative of the frictional behavior of the vehicle by normalizing the slip rate determined from at least the dynamic characteristic of the vehicle. Figure 2.

FR1904265A 2019-04-23 2019-04-23 Method for estimating an index representative of the frictional behavior of a vehicle on a road Active FR3095510B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1904265A FR3095510B1 (en) 2019-04-23 2019-04-23 Method for estimating an index representative of the frictional behavior of a vehicle on a road
US16/851,642 US11453400B2 (en) 2019-04-23 2020-04-17 Method for estimating an index representative of the frictional behavior of a vehicle on a road
CA3079339A CA3079339A1 (en) 2019-04-23 2020-04-23 Method for estimating an index representative of the frictional behavior of a vehicle on a road

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1904265A FR3095510B1 (en) 2019-04-23 2019-04-23 Method for estimating an index representative of the frictional behavior of a vehicle on a road
FR1904265 2019-04-23

Publications (2)

Publication Number Publication Date
FR3095510A1 FR3095510A1 (en) 2020-10-30
FR3095510B1 true FR3095510B1 (en) 2021-03-19

Family

ID=67810830

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1904265A Active FR3095510B1 (en) 2019-04-23 2019-04-23 Method for estimating an index representative of the frictional behavior of a vehicle on a road

Country Status (3)

Country Link
US (1) US11453400B2 (en)
CA (1) CA3079339A1 (en)
FR (1) FR3095510B1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3097504B1 (en) * 2019-06-18 2021-09-17 Continental Automotive Method and device for predicting a custom coefficient of friction for a vehicle on a road segment
FR3103303B1 (en) * 2019-11-14 2022-07-22 Continental Automotive Determination of a coefficient of friction for a vehicle on a road

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5015040A (en) * 1989-11-09 1991-05-14 General Motors Corporation Electronic control dynamic brake proportioning
DE4010507C1 (en) * 1990-04-02 1991-10-17 Volkswagen Ag, 3180 Wolfsburg, De
SE0002213D0 (en) * 2000-04-12 2000-06-13 Nira Automotive Ab Tire pressure computation system
DE10024178A1 (en) * 2000-05-17 2001-12-06 Wabco Gmbh & Co Ohg Method for improved determination of the ratio of the radii of the wheels of a vehicle to one another
DE60144364D1 (en) * 2000-12-14 2011-05-19 Sumitomo Rubber Ind Device and method for tire identification and device and method for road condition evaluation
EP1364813A4 (en) * 2001-02-08 2004-12-15 Nippon Soken Tire pneumatic pressure detector
DE60317290T2 (en) * 2002-11-13 2008-08-28 Sumitomo Rubber Industries Ltd., Kobe Method, device and program for determining road conditions
JP4114065B2 (en) * 2003-05-30 2008-07-09 トヨタ自動車株式会社 Four-wheel drive vehicle behavior control device
US20050038589A1 (en) * 2003-08-14 2005-02-17 Deepak Shukla Method for estimating a friction coefficient
JP4703953B2 (en) * 2003-08-26 2011-06-15 富士重工業株式会社 Vehicle road friction coefficient estimation device
US7751961B2 (en) * 2005-09-15 2010-07-06 Gm Global Technology Operations, Inc. Acceleration/deceleration induced real-time identification of maximum tire-road friction coefficient
EP2876413B1 (en) 2013-11-21 2018-04-11 Volvo Car Corporation Method for estimating a relative tire friction performance
US9500565B2 (en) * 2015-03-24 2016-11-22 Ford Global Technologies, Llc Vehicle and method of using a spare tire
JP6504223B2 (en) * 2017-09-29 2019-04-24 マツダ株式会社 Vehicle driving force control method

Also Published As

Publication number Publication date
US11453400B2 (en) 2022-09-27
CA3079339A1 (en) 2020-10-23
FR3095510A1 (en) 2020-10-30
US20200339130A1 (en) 2020-10-29

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